Adding option to launch without rviz, similar to 2d case (#972)
parent
41c74de649
commit
55e83c39a5
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@ -15,10 +15,16 @@
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-->
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-->
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<launch>
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<launch>
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<arg name="no_rviz" default="false"/>
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<param name="/use_sim_time" value="true" />
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<param name="/use_sim_time" value="true" />
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<group unless="$(arg no_rviz)">
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<node name="rviz" pkg="rviz" type="rviz" required="true"
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<node name="rviz" pkg="rviz" type="rviz" required="true"
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args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
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args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
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<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
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type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
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</group>
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<node name="cartographer_offline_node" pkg="cartographer_ros"
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<node name="cartographer_offline_node" pkg="cartographer_ros"
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type="cartographer_offline_node" args="
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type="cartographer_offline_node" args="
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@ -26,11 +32,9 @@
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-configuration_basenames backpack_3d.lua
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-configuration_basenames backpack_3d.lua
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-urdf_filenames $(find cartographer_ros)/urdf/backpack_3d.urdf
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-urdf_filenames $(find cartographer_ros)/urdf/backpack_3d.urdf
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-bag_filenames $(arg bag_filenames)"
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-bag_filenames $(arg bag_filenames)"
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output="screen">
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output="screen"
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required="$(arg no_rviz)">
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<remap from="points2_1" to="horizontal_laser_3d" />
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<remap from="points2_1" to="horizontal_laser_3d" />
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<remap from="points2_2" to="vertical_laser_3d" />
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<remap from="points2_2" to="vertical_laser_3d" />
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</node>
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</node>
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<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
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type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
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</launch>
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</launch>
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